/****************************************************************************\
 * @file     BR_DrivingMotor.h
 * @author   傅帅
 * @date     2019/12/30
 * @brief    驱动电机
 *
 ******************************************************************************
 * @attent
 ****************************************************************************/
#ifndef BR_DRIVING_MOTOR_H
#define BR_DRIVING_MOTOR_H
#include "FreeRTOS.h"
#include "task.h"

#define BR_DrivingMotorHandlerTaskPrio 13
#define BR_DrivingMotorHandlerTaskStkSize 512

/* 驱动电机结构体 */
typedef struct
{
    void ( *fDrivingMotorsVelSet )(float *vel_values);  // 驱动电机控制，输入为长度为四的float数组[mm/s]
}BR_DrivingMotor_t;

void BR_vDrivingMotorHandlerTask(void);
void BR_vDrivingMotorInit(void);
void BR_vDrivingMotorsVelSet(float *Vels);

extern TaskHandle_t BR_DrivingMotorHandlerTaskHandler;

#endif 
